text: /*
   * Copyright (c) 2015-2016, Humanoid Lab, Georgia Tech Research Corporation
   * Copyright (c) 2015-2017, Graphics Lab, Georgia Tech Research Corporation
   * Copyright (c) 2016-2017, Personal Robotics Lab, Carnegie Mellon University
   * All rights reserved.
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef DART_DYNAMICS_ENDEFFECTOR_HPP_
  #define DART_DYNAMICS_ENDEFFECTOR_HPP_
  
  #include "dart/common/Aspect.hpp"
  #include "dart/common/SpecializedForAspect.hpp"
  #include "dart/common/AspectWithVersion.hpp"
  #include "dart/dynamics/FixedJacobianNode.hpp"
  #include "dart/dynamics/CompositeNode.hpp"
  #include "dart/dynamics/detail/EndEffectorAspect.hpp"
  
  namespace dart {
  namespace dynamics {
  
  class BodyNode;
  class Skeleton;
  class EndEffector;
  
  //==============================================================================
  class Support final :
      public common::AspectWithStateAndVersionedProperties<
          Support,
          detail::SupportStateData,
          detail::SupportPropertiesData,
          EndEffector,
          &detail::SupportUpdate>
  {
  public:
  
    DART_COMMON_ASPECT_STATE_PROPERTY_CONSTRUCTORS(Support)
  
    /// Set/Get the support geometry for this EndEffector. The SupportGeometry
    /// represents points in the EndEffector frame that can be used for contact
    /// when solving balancing or manipulation constraints.
    DART_COMMON_SET_GET_ASPECT_PROPERTY(math::SupportGeometry, Geometry)
    // void setGeometry(const math::SupportGeometry&);
    // const math::SupportGeometry& getGeometry() const;
  
    /// Pass in true if this EndEffector should be used to support the robot, like
    /// a foot
    void setActive(bool _supporting = true);
  
    /// Get whether this EndEffector is currently being used for support
    bool isActive() const;
  
  };
  
  //==============================================================================
  class EndEffector final :
      public common::EmbedPropertiesOnTopOf<
          EndEffector, detail::EndEffectorProperties,
          detail::EndEffectorCompositeBase>
  {
  public:
  
    friend class Skeleton;
    friend class BodyNode;
  
    using UniqueProperties = detail::EndEffectorProperties;
  
    using BasicProperties = common::Composite::MakeProperties<
        NameAspect,
        FixedFrame,
        EndEffector>;
  
    using Properties = common::Composite::Properties;
  
    /// Destructor
    virtual ~EndEffector() = default;
  
    //----------------------------------------------------------------------------
    /// \{ \name Structural Properties
    //----------------------------------------------------------------------------
  
    /// Set the Properties of this EndEffector. If _useNow is true, the current
    /// Transform will be set to the new default transform.
    void setProperties(const BasicProperties& _properties);
  
    /// Set the Properties of this EndEffector. If _useNow is true, the current
    /// Transform will be set to the new default transform.
    void setProperties(const UniqueProperties& properties, bool useNow=false);
  
    /// Set the AspectProperties of this EndEffector
    void setAspectProperties(const AspectProperties& properties);
  
    /// Get the Properties of this EndEffector
    Properties getEndEffectorProperties() const;
  
    /// Copy the State and Properties of another EndEffector
    void copy(const EndEffector& _otherEndEffector);
  
    /// Copy the State and Properties of another EndEffector
    void copy(const EndEffector* _otherEndEffector);
  
    /// Copy the State and Properties of another EndEffector
    EndEffector& operator=(const EndEffector& _otherEndEffector);
  
    /// Set the default relative transform of this EndEffector. The relative
    /// transform of this EndEffector will be set to _newDefaultTf the next time
    /// resetRelativeTransform() is called. If _useNow is set to true, then
    /// resetRelativeTransform() will be called at the end of this function.
    void setDefaultRelativeTransform(const Eigen::Isometry3d& _newDefaultTf,
                                     bool _useNow = false);
  
    /// Set the current relative transform of this EndEffector to the default
    /// relative transform of this EndEffector. The default relative transform can
    /// be set with setDefaultRelativeTransform()
    void resetRelativeTransform();
  
    DART_BAKE_SPECIALIZED_ASPECT(Support)
  
    //----------------------------------------------------------------------------
    /// \{ \name Notifications
    //----------------------------------------------------------------------------
  
    // Documentation inherited
    void dirtyTransform() override;
  
    /// \}
  
  protected:
  
    /// Constructor used by the Skeleton class
    explicit EndEffector(BodyNode* parent, const BasicProperties& properties);
  
    // Documentation inherited
    Node* cloneNode(BodyNode* _parent) const override;
  
  public:
  
    // To get byte-aligned Eigen vectors
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
  };
  
  } // namespace dynamics
  } // namespace dart
  
  
  #endif // DART_DYNAMICS_ENDEFFECTOR_HPP_
  